Robotic Systems

&
Control
By:
MUKUND KUMAR MENON,
ASSISTANT PROFESSOR,
DEPT. OF INSTRUMENTATION & CONTROL ENGG.,
MIT, MANIPAL.

ICE
425

CONTENTS -I
Introduction:
Structure

of

Introduction to robotics, Components and

Robots,

Common

Kinematic

arrangements,

Rotations, Composition of Rotations, Properties, Homogeneous

Transformation, Skew symmetric Matrices, Angular Velocity and
Acceleration, additional of angular velocities.
Forward

and

Velocity

Kinematics:

[10]
Kinematic

Chains,

Denavit-Hartenberg Representation, Derivation of the Jacobian,

Examples, Singularities, Inverse Velocity and acceleration.
[5]

Dynamics: Euler-Lagrange Equations, Expressions for kinetic

and

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potentialICE 425
energy,
Equation of Motions,
Robotic Systems and Control, Dept of
I&CE, MIT, Manipal

Common

CONTENTS -II
Controls: Introduction, Actuator dynamics, Set-Point Tracking,
Drive Train Dynamics, Trajectory Interpolation, Feed forward
Control and Computed Torque, PD control revisited, Inverse
Dynamics, Implementation and Robustness Issues, Robust outer
loop design.

[12]

Force Control: Natural and artificial constraints, stiffness and

compliance, Inverse response in task space, Impedance Control,
Hybrid Position/Force Control.
[5]

Feedback Linearization: The Frobenius theorem, Single-Input

Systems, Feedback Linearization for N-Link Robots, Introduction
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to outer loop

ICE 425 Robotic Systems and Control, Dept of

design-Lyapunovs
Second Method,3
I&CE,
MIT, Manipal

Methods of

Reference:
Mark W.Spong & M.Vidyasagar. Robot Dynamics and
Control, Willey India Publisher, 2009. ISBN: 978-81-2651780-0.
Lee, K.S. Fu, R.C. Gonzalez & C.S.G - Robotics : Control,
Sensing, Vision and Intelligence, McGraw Hill.
Bruno Sicilian (1996) - Modelling And Controlling Of
Robot Manipulations ,Lorenzo Seivicco, TMH.

For Further Reading:

Wolfram Stadler (1995) - Analytical robotics and
Mechatronics, TMH.
Robert J. Schilling (1996)- Fundamentals of Robotics
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Analysis and
, PHI.
ICE control
425 Robotic
Systems and Control, Dept of
I&CE, MIT, Manipal

CHAPTER 1:
INTRODUCTI
ON
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I&CE, MIT, Manipal

The Three Laws of Robotics by Issac Asimov,

famous Science Fiction Writer:
1. A robot may not harm/injure a human-being or (through
inaction) allow a human to be harmed.
2. A robot must obey orders given by humans, except when that
conflicts with the First law.
3. A robot must protect its own existence unless that conflicts with
the First and Second Laws.
Ref: Groover, Wiess, Nagel, G. Ordery, Industrial robotics: Technology, Programing & Applications,,2008e,
TMH, Chapter 1, Pg7-8

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I&CE, MIT, Manipal

Automatic Potato Peeler

WHICH
ONE IS
A
ROBOT ??

Automatic Washing Machine

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Automatic Voltage Regulator

Automatic Teller Machine

Automatic Welding Machine
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(ATM)
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 Robot from the Czech word robota meaning work

As per RIA (Robot Institute Of America), A robot is
defined
as
reprogrammable
multi-functional
manipulator, designed to move materials, parts, tools or
specialized devices through variable programmed
motions for the performance of a variety of tasks.
Robot can be termed as a re-programmable general
purpose manipulator with external sensors that
can perform various assembly task (as per
Robotics by K.S Fu et.al)
A robot must posses INTELLIGENCE

Need for
Robots:

Robot prices are decreasing while human labour costs

increasing.
Robots are becoming more effective
Faster
More accurate
More flexible
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I&CE, MIT, Manipal

GENEALOGY OF
ROBOTIC
MECHANICAL
SYSTEMS

Angeles - Fundamentals of Robotic

Mechanical Systems

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Types of Robots
[as per Japan Industrial Robot
Association, JIRA]:

1. Manually operated manipulators: Machines that must be

directly operated by a human.
2. Sequential (FIXED or VARIABLE) manipulators: Devices
that perform a series of tasks in the fixed (same) sequence
every time they are actuated e.g.: a telephone answering
machine or in variable (re-programmable) sequence.
3. Programmable manipulators: These include the simpler
types of industrial robots familiar to most people.
4. Numerically controlled (NC) robots: Examples are servo
robots.
5. Sensate robots: Robots incorporating sensors of any type,
such as back pressure, proximity, pressure, tactile, or wrist
force.
6. Adaptive robots: Robots that adjust the way they work to
compensate for changes in their environment.
7. Smart robots: Robots with high-end controllers that can be
considered to possess AI.
Ref: Stan Gibilisco, Concise Encyclopaedia of Robotics,
ICE
425 Robotic
Systems
and Control,
Dept of
8.
Intelligent
mechatronic
systems:
Computers
MH,
Pg 267
11 that control
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I&CE, MIT, Manipal

GENERAL ARCHITECTURE OF A
ROBOTIC MECHANICAL SYSTEM

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I&CE, MIT, Manipal

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PHYSIC
AL
PARTS
OF A
ROBOT

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I&CE, MIT, Manipal

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Courtesy:
http://
curiosity.discovery.com/question/basic-components-of-a-robot
Saeed, Intro. to Robotics, Ch.1, Pg-6-9, PHI, 2005

Almost anything that would be considered a robot has the

following SEVEN basic elements:
1. Manipulator / Rover / A moveable body THE CRUCIAL
PART Robots may have wheels, limbs connected by
mechanical joints, or other types of moveable segments.
2. End Effector / Tool Decides the purpose of the robot
3. A sensory system Some robots have the ability to collect
information about their environment and react to it.
4. An actuator In order to be activated, robots may use an
electric motor, a hydraulic system, a pneumatic system or a
combination of all three.
5. A power source A robot needs a power source to drive its
actuators. Electric robots use batteries or extension cord.
Hydraulic robots need pumps to pressurize the hydraulic
fluid, and pneumatic robots need air compressors.
6. An electrical circuit The electrical circuit powers the
electric motor, solenoid or valves that control hydraulic or
pneumatic systems.
7. A reprogrammable brain (computer) + S/W The
computer controls
all other
components.
Inoforder to change
ICE 425 Robotic
Systems
and Control, Dept

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Example: UNIMATION
PUMA-500

http://www.robotsdotcom.com/6dof.jp

Example: Typical
SCARA arm

PUMA Programmable Universal

Machine for Assembly

http://helix.gatech.edu/Students/SiouxWill/I2)2
1)us.htm

http://gaullyblog.wordpress.com/mini-project-scara-armimage-processing/

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I&CE, MIT, Manipal

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UNIMATION PUMA-500
http://www.processonline.com.au/uploads/Image/UPF1S2-2-ArticulatedRobot.jpg

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I&CE, MIT, Manipal

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JOINTS:
1. Linear

REVOLUT
E Rota

PRISMATI
C

2. Sliding

ry

3. Rotary
4. Spherical**

REVOLUT
http://www.itu.dk/stud/speciale/segmentering/Matlab6p5/help/toolbo
E
x/physmod/mech/mech_building18.gif

PRISMATI
CSliding

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PRISMATI
CLinear

REVOLUT
UNIVER
ESpheric
http://3.bp.blogspot.com/__lf0SNle3TQ/SwgFuCm0glI/AAAAAAAAAAs/JUU74dSAL
Elfc/s1600/gambar3.bmp
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425 Robotic Systems and Control, Deptal
of
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Ref: Saeed B. Niku , Introduction to Robotics: Analysis,

Control, Applications, John Wiley & Sons; 2 edition (27
October 2010)

ROBOT CO-

ORDINATES:
1. Cartesian/Rectangular/Gantry
[3P]
2. Cylindrical [R-2P]
3. Spherical [2R-P] 2R planes are
perpendicular
4. Articulated [3R] {example: PUMA-500}
5. SCARA [2R-P] 2R planes are co-planar;
ROBOT
ROBOT
WORKSPACES:
Spherical
1.unlike
Cartesian/Rectangu

CHARACTERISTICS:

1. PAYLOAD
2. REACH / WORKlar
ENVELOPE
3. PRECISION/VALIDITY
Next
4. REPEATABILITY /
2. Cylindrical
Slide
VARIABILITY
5. SPEED / ACCELERATION
3. Spherical [2R-P]
6. No. OF AXES
ICE 425 Robotic Systems and Control,
Dept of
7. **DOFS
18
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MIT, Manipal
4. Articulated
[3R]

ROBOT
WORKSPACES:

http://prime.jsc.nasa.gov/ROV/images/cylindrical2.GIF

http://www.robotiklogistik.de/fileadmin/user_upload/robotik/technologi
en/roboter/schwenkarm/schema_portalroboter_rrt.gi
f

http://prime.jsc.nasa.gov/ROV/images/sphericalpolar.GIF

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GANTRY
ROBOT

SCARAhttp://prime.jsc.nasa.gov/ROV/types.htm

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I&CE, MIT, Manipal

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ROBOT REFERENCE
ROBOT

1. WorldFRAMES:
/ Base Frame
2. Joint Reference
3. Tool Reference

ROBOT PROGRAMMING
1. Physical
Set-up [viz.
MODES:

Language Level

Point-to-Point Level++

Primitive Motion Level

Structured Programming
Level

PLCs]
2.

++

LANGUAGES:
Computer
Machine

Task-Oriented Level
[obsolete]

Lead-Through / Teach

High Level
Interpreter Based (line

Mode

by line Xtn)
Xtn stops @ error
3. Continuous Walkoccurrence.
Faster
& Easier
ICE 425 Robotic Systems and Control, Dept
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Through Mode

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I&CE, MIT, Manipal

ROBOT
KINEMAT
ICS
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I&CE, MIT, Manipal

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DEGREES OF FREEDOM [DOF]:

A RECAP
Bar
-I

HERE,
DOF =
1

Controller
Grashof
s
theore
ms

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E.
F

BarII

BarIII

Bas
e

Example for Closed Chain

system:
ICE 425 Robotic Systems and Control, Dept
of
A Four-Bar
24 Linkage
I&CE, MIT, Manipal

w
u

P
w
v'
u'

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I&CE, MIT, Manipal

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http://www.technologystudent.com/index.htm

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I&CE, MIT, Manipal

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